A method, system, electronic device and storage medium for constructing road adjacency relationships

Abstract

The present invention provides a method, system, electronic device and storage medium for constructing a road adjacency relationship. The method includes: based on all the obtained road vectors, finding the reverse adjacent road vector of any road vector; obtaining the physical isolation facilities between any road vector and its reverse adjacent road vector; projecting the physical isolation facilities onto the two road vectors respectively to obtain the projection lengths of the non-physical isolation areas on the road vectors; when the projection length is greater than the set length threshold, determining that any road vector and its reverse adjacent road vector form a final reverse adjacent relationship. The present invention introduces the processing of static obstacles (physical isolation facilities). Only when the non-obstacle length between two road sections is greater than the threshold, it is considered that there is an adjacency relationship between the two road sections, which can effectively meet the reference requirements for the automatic driving to turn around or change lanes in the road section, and enhance the reliability and stability of the automatic driving.

Description

Technical Field

[0001] The present invention relates to the field of high-precision map production, and more specifically, to a method, system, electronic device, and storage medium for constructing road adjacency relationships. Background Art

[0002] In existing high-precision map data, the adjacency relationship of roads is mainly judged by the distance and direction of road vectors. This method can only judge the adjacency relationship of roads, but cannot determine whether the roads are passable.

[0003] In existing high-precision map data, the up-and-down adjacency relationship of roads is calculated according to road network elements, without considering the influence of static obstacles, which is not convenient for autonomous driving and cannot effectively support all scenario requirements of path planning in autonomous driving. Summary of the Invention

[0004] The present invention provides a method, system, electronic device, and storage medium for constructing road adjacency relationships in view of the technical problems existing in the prior art.

[0005] According to a first aspect of the present invention, a method for constructing a road adjacency relationship is provided, including:

[0006] Based on all the obtained road vectors, for any one road vector, find its reverse adjacent road vector;

[0007] Obtain the physical isolation facilities between the any one road vector and its reverse adjacent road vector;

[0008] Project the physical isolation facilities onto the any one road vector and the reverse adjacent road vector respectively, and obtain the projection length of the non-physical isolation area between the any one road vector and its reverse adjacent road vector on the road vector;

[0009] When the projection length is greater than a set length threshold, determine that the any one road vector and its reverse adjacent road vector form a final reverse adjacent relationship.

[0010] Based on the above technical solutions, the present invention can also be improved as follows.

[0011] Optionally, the step of for any one road vector, finding its reverse adjacent road vector includes:

[0012] Search for the set of road vectors within the specified range of the road vector RV;

[0013] Calculate the spatial distance between the road vector RV and each road vector in the set of road vectors, and find the road vector SRV and the road vector ERV that are adjacent to the head and tail of the road vector RV;

[0014] Determine the reverse adjacent road vector of the road vector RV based on the direction of the road vector RV and the directions of the road vectors SRV and ERV.

[0015] Optionally, the determining the reverse adjacent road vector of the road vector RV based on the direction of the road vector RV and the directions of the road vectors SRV and ERV includes:

[0016] Obtain the projection point P of the starting point S of the road vector RV on the road vector SRV;

[0017] Obtain the minimum distance between the starting point S and the projection point P, as well as the first direction of the road vector RV at the starting point S and the second direction of the road vector SRV at the projection point P, and calculate the included angle between the first direction and the second direction;

[0018] When the included angle is within a set range, construct the reverse adjacent relationship between the road vector RV and the road vector SRV.

[0019] Optionally, the when the included angle is within a set range, constructing the reverse adjacent relationship between the road vector RV and the road vector SRV includes:

[0020] According to the road connection relationship, obtain other road vectors between the road vector SRV and the road vector ERV, and establish the reverse association relationship between the road vector RV and the other road vectors.

[0021] Optionally, the physical isolation facility includes a guardrail and a curb.

[0022] Optionally, each road vector includes multiple road interval vectors, and the method further includes:

[0023] Establish the reverse adjacent relationship of the road interval vectors on the road vectors with the reverse adjacent relationship.

[0024] According to the second aspect of the present invention, there is provided a road adjacent relationship construction system, including:

[0025] A search module, configured to, based on all the obtained road vectors, for any one road vector, find its reverse adjacent road vector;

[0026] A first acquisition module, configured to acquire the physical isolation facility between the any one road vector and its reverse adjacent road vector;

[0027] A second acquisition module, configured to project the physical isolation facility on the any one road vector and the reverse adjacent road vector respectively, and acquire the projection length of the non-physical isolation area between the any one road vector and its reverse adjacent road vector on the road vector;

[0028] A building block for constructing the final reverse adjacency relationship between any road vector and its reverse adjacent road vector when the projection length is greater than a set length threshold.

[0029] According to the third aspect of the present invention, an electronic device is provided, including a memory and a processor. When the processor executes a computer management program stored in the memory, the steps of the road adjacency relationship construction method are implemented.

[0030] According to the fourth aspect of the present invention, a computer-readable storage medium is provided, on which a computer management program is stored. When the computer management program is executed by a processor, the steps of the road adjacency relationship construction method are implemented.

[0031] A method, system, electronic device and storage medium for constructing a road adjacency relationship provided by the present invention introduce the processing of static obstacles (physical isolation facilities). Only when the non-obstacle length between two road sections is greater than the threshold, it is considered that there is an adjacency relationship between the two road sections, which can effectively meet the reference requirements for U-turn or lane change in a road section during autonomous driving, and enhance the reliability and stability of autonomous driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a flowchart of a method for constructing a road adjacency relationship provided by the present invention;

[0033] Figure 2 It is a schematic diagram of road vectors with an adjacency relationship;

[0034] Figure 3 It is a flowchart of the road adjacency relationship construction method;

[0035] Figure 4 It is a schematic structural diagram of a road adjacency relationship construction system provided by the present invention;

[0036] Figure 5 It is a schematic hardware structure diagram of a possible electronic device provided by the present invention;

[0037] Figure 6 It is a schematic hardware structure diagram of a possible computer-readable storage medium provided by the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0038] The following further describes in detail the specific embodiments of the present invention with reference to the drawings and embodiments. The following embodiments are used to illustrate the present invention, but not to limit the scope of the present invention.

[0039] Embodiment 1

[0040] A method for constructing a road adjacency relationship, see Figure 1, the construction method mainly includes the following steps:

[0041] S1. Based on all the obtained road vectors, for any one road vector, find its reverse adjacent road vector.

[0042] As an embodiment, for any one road vector, finding its reverse adjacent road vector includes: searching the set of road vectors within the specified range of the road vector RV; calculating the spatial distance between the road vector RV and each road vector in the set of road vectors, and finding the road vector SRV and the road vector ERV adjacent to the head and tail of the road vector RV; based on the direction of the road vector RV and the directions of the road vector SRV and the road vector ERV, determining the reverse adjacent road vector of the road vector RV.

[0043] Among them, based on the direction of the road vector RV and the directions of the road vector SRV and the road vector ERV, determining the reverse adjacent road vector of the road vector RV includes: obtaining the projection point P of the starting point S of the road vector RV on the road vector SRV; obtaining the minimum distance between the starting point S and the projection point P, as well as the first direction of the road vector RV at the starting point S and the second direction of the road vector SRV at the projection point P, and calculating the included angle between the first direction and the second direction; when the included angle is within the set range, constructing the reverse adjacent relationship between the road vector RV and the road vector SRV.

[0044] Among them, when the included angle is within the set range, constructing the reverse adjacent relationship between the road vector RV and the road vector SRV includes: according to the road connection relationship, obtaining other road vectors between the road vector SRV and the road vector ERV, and establishing the reverse association relationship between the road vector RV and other road vectors.

[0045] Specifically, collect all the road vectors associated with the central isolation line and the outer lane lines. Calculate the adjacent relationship between the upstream and downstream roads in the following way: search the set of road vectors within the specified range of the road vector RV, traverse the set, and find the road vectors SRV and ERV adjacent to the head and tail of RV by calculating the spatial distance. Calculate the projection point P of the starting point S of RV on SRV and the nearest distance H between the starting point S and the projection point P, and calculate the included angle between the direction of the road vector RV at the starting point S and the direction of the road vector SRV at the projection point P. Based on the included angle between the two directions, construct the reverse association relationship between the road vector RV and the road vector SRV, and then obtain other road vectors between the road vector SRV and the road vector ERV according to the road connection relationship, and establish the reverse association relationship between these road vectors and the road vector RV. See Figure 2 , there is a reverse association relationship between the road vector RV and the road vector SRV.

[0046] S2. Obtain the physical isolation facilities between any one of the road vectors and its reverse adjacent road vector.

[0047] S3. Project the physical isolation facilities onto any one of the road vectors and the reverse adjacent road vector respectively, and obtain the projection length of the non - physical isolation area between any one of the road vectors and its reverse adjacent road vector on the road vector.

[0048] Specifically, the present invention introduces physical isolation facilities, such as guardrails and curbstones, calculates the road association relationship of guardrails and curbstones, and calculates the guardrails and curbstones associated with the left side of the roads with reverse adjacent relationships. By calculating the projections of the guardrails and curbstones on the road vector RV and the road vector SRV, the physically isolated interval is found, so as to calculate the projection length of the non - physically isolated interval on the road vector. For details, see Figure 2 .

[0049] S4. When the projection length is greater than the set length threshold, determine that any one of the road vectors and its reverse adjacent road vector form a final reverse adjacent relationship.

[0050] It can be understood that only when the projection length of the non - physically isolated interval on the road vector is greater than the set threshold, can it be finally determined that the above - mentioned initial judgment of the road vector RV and its reverse adjacent road vector SRV indeed have a reverse adjacent relationship.

[0051] As an embodiment, each road vector includes multiple road interval vectors, and the method further includes: establishing the reverse adjacent relationship of the road interval vectors on the road vectors with reverse adjacent relationships.

[0052] It should be noted that each road vector can be composed of multiple road interval vectors. For example, Figure 2 section1, section2, and section3 in

[0053] can all be understood as a road interval vector. The construction method of the adjacency relationship with the road vector is the same, and the adjacency relationship between road interval vectors can also be constructed.

[0054] The key to this solution is to reflect the passability of the up - and - down road intervals, construct a layer of road interval adjacency topological relationship layer, and be able to quickly obtain this topological data through the existing high - precision map data. Therefore, the road interval adjacency relationship is organized as follows, see Table 1:

[0055] Serial number Field Description 1 ID Unique ID of the road section adjacency relationship 2 RVID Road vector ID where the road section is located 3 RSectionSeq Road section serial number 4 RefRVID Road vector ID where the adjacent road section is located 5 RefRSectionSeq Serial number of the adjacent road section 6 RefDirection 1: Forward adjacency, 2: Reverse adjacency

[0056] As can be seen from Table 1, the content of the adjacency relationship of the road section vector includes the road vector ID, the road section serial number, the ID of the adjacent road vector, the serial number of the adjacent road section, and the adjacency relationship category.

[0057] Embodiment 2

[0058] A method for constructing a road adjacency relationship, refer to Figure 3 , in order to meet the driving requirements of autonomous driving on the up and down roads, the construction of the up and down adjacency relationship of the road section is carried out according to the following scheme.

[0059] First, collect all road vectors; secondly, traverse all road vectors and calculate the adjacent road vectors of each road vector; further, calculate the non-physical isolation area according to the physical isolation facilities between adjacent roads; further, calculate the adjacency relationship of the road sections of adjacent roads; further, calculate the length of the non-physical isolation area between adjacent road sections; finally, when the length threshold is exceeded, construct the reverse adjacency relationship of the adjacent road sections.

[0060] Embodiment 3

[0061] A system for constructing a road adjacency relationship, refer to Figure 4 , the construction system includes a search module 401, a first acquisition module 402, a second acquisition module 403, and a construction module 404.

[0062] Among them, the search module 401 is used to find the reverse adjacent road vector for any road vector based on all the acquired road vectors; the first acquisition module 402 is used to acquire the physical isolation facilities between the any road vector and its reverse adjacent road vector; the second acquisition module 403 is used to project the physical isolation facilities on the any road vector and the reverse adjacent road vector respectively, and acquire the projection length of the non-physical isolation area between the any road vector and its reverse adjacent road vector on the road vector; the construction module 404 is used to construct the final reverse adjacency relationship between the any road vector and its reverse adjacent road vector when the projection length is greater than the set length threshold.

[0063] It can be understood that a system for constructing a road adjacency relationship provided by the present invention corresponds to the method for constructing a road adjacency relationship provided in the foregoing embodiments. The relevant technical features of the system for constructing a road adjacency relationship can refer to the relevant technical features of the method for constructing a road adjacency relationship, which will not be elaborated here.

[0064] Embodiment 4

[0065] Please refer to Figure 5 , Figure 5 is a schematic diagram of an embodiment of an electronic device provided in an embodiment of the present invention. AsFigure 5 As shown in the figure, an embodiment of the present invention provides an electronic device 500, including a memory 510, a processor 520, and a computer program 511 stored on the memory 510 and executable on the processor 520. When the processor 520 executes the computer program 511, the following steps are implemented: Based on all the obtained road vectors, for any one road vector, find its reverse adjacent road vector; obtain the physical isolation facilities between the any one road vector and its reverse adjacent road vector; project the physical isolation facilities onto the any one road vector and the reverse adjacent road vector respectively, and obtain the projection length of the non-physical isolation area between the any one road vector and its reverse adjacent road vector on the road vector; when the projection length is greater than a set length threshold, determine that the any one road vector and its reverse adjacent road vector form a final reverse adjacent relationship.

[0066] Embodiment Five

[0067] Please refer to Figure 6 , Figure 6 which is a schematic diagram of an embodiment of a computer-readable storage medium provided by the present invention. As Figure 6 shown, this embodiment provides a computer-readable storage medium 600, on which a computer program 611 is stored. When the computer program 611 is executed by a processor, the following steps are implemented: Based on all the obtained road vectors, for any one road vector, find its reverse adjacent road vector; obtain the physical isolation facilities between the any one road vector and its reverse adjacent road vector; project the physical isolation facilities onto the any one road vector and the reverse adjacent road vector respectively, and obtain the projection length of the non-physical isolation area between the any one road vector and its reverse adjacent road vector on the road vector; when the projection length is greater than a set length threshold, determine that the any one road vector and its reverse adjacent road vector form a final reverse adjacent relationship.

[0068] A method, system, electronic device, and storage medium for constructing a road adjacency relationship provided by an embodiment of the present invention have the following advantages compared with the prior art:

[0069] 1. The road section adjacency relationship does not damage the road topology network of the original high-precision map data, and adds a new topology layer to express the road section relationship;

[0070] 2. This solution is refined to calculate the adjacency relationship of road sections, can more accurately meet the path planning requirements of autonomous driving, and can be effectively combined with the original high-precision map.

[0071] It should be noted that in the above embodiments, the descriptions of the various embodiments have their own emphases. For the parts not detailedly described in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0072] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0073] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to the embodiments of the present invention. It should be understood that each flow and / or block in the flowchart and / or block diagram, as well as the combination of flows and / or blocks in the flowchart and / or block diagram, can be realized by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate means for realizing the functions specified in one Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0074] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured article including instruction means, and the instruction means realizes the functions specified in one Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0075] These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for realizing the functions specified in one Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0076] Although the preferred embodiments of the present invention have been described, those skilled in the art can make additional changes and modifications to these embodiments once they know the basic creative concept. Therefore, the appended claims are intended to be construed as including the preferred embodiments and all changes and modifications falling within the scope of the present invention.

[0077] Obviously, those skilled in the art can make various modifications and variations to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these modifications and variations.

Claims

1. A method for constructing road adjacency relationships, characterized in that, Including: Based on all the obtained road vectors, for any one road vector, find its reverse adjacent road vector; Obtain the physical isolation facilities between the any one road vector and its reverse adjacent road vector; Project the physical isolation facilities onto the any one road vector and the reverse adjacent road vector respectively, and obtain the projection length of the non-physical isolation area between the any one road vector and its reverse adjacent road vector on the road vector; When the projection length is greater than the set length threshold, determine that the any one road vector and its reverse adjacent road vector form a final reverse adjacent relationship.

2. The method for constructing road adjacency relationships according to claim 1, characterized in that, The finding, for any one road vector, of its reverse adjacent road vector includes: Search for the set of road vectors within the specified range of the road vector RV; Calculate the spatial distance between the road vector RV and each road vector in the set of road vectors, and find the road vector SRV and the road vector ERV adjacent to the head and tail of the road vector RV; Based on the direction of the road vector RV and the directions of the road vector SRV and the road vector ERV, determine the reverse adjacent road vector of the road vector RV.

3. The method for constructing road adjacency relationships according to claim 2, characterized in that, The determining, based on the direction of the road vector RV and the directions of the road vector SRV and the road vector ERV, of the reverse adjacent road vector of the road vector RV includes: Obtain the projection point P of the starting point S of the road vector RV on the road vector SRV; Obtain the minimum distance between the starting point S and the projection point P, as well as the first direction of the road vector RV at the starting point S and the second direction of the road vector SRV at the projection point P, and calculate the included angle between the first direction and the second direction; When the included angle is within the set range, construct the reverse adjacent relationship between the road vector RV and the road vector SRV.

4. The method for constructing road adjacency relationships according to claim 3, characterized in that, The when the included angle is within the set range, constructing the reverse adjacent relationship between the road vector RV and the road vector SRV includes: According to the road connection relationship, obtain the other road vectors between the road vector SRV and the road vector ERV, and establish the reverse association relationship between the road vector RV and the other road vectors.

5. The method for constructing road adjacency relationships according to claim 1, characterized in that, The physical isolation facilities include guardrails and curbstones.

6. The method for constructing road adjacency relationships according to any one of claims 1-5, characterized in that, Each road vector includes multiple road interval vectors, and the method further includes: Establish the reverse adjacent relationship of the road interval vectors on the road vectors with reverse adjacent relationships.

7. A system for constructing road adjacency relationships, characterized in that, Including: A search module, configured to, based on all the obtained road vectors, for any one road vector, find its reverse adjacent road vector; A first acquisition module, configured to obtain the physical isolation facilities between the any one road vector and its reverse adjacent road vector; A second acquisition module, configured to project the physical isolation facilities onto the any one road vector and the reverse adjacent road vector respectively, and obtain the projection length of the non-physical isolation area between the any one road vector and its reverse adjacent road vector on the road vector; A construction module, configured to, when the projection length is greater than the set length threshold, construct the final reverse adjacent relationship between the any one road vector and its reverse adjacent road vector.

8. The system for constructing road adjacency relationships according to claim 7, characterized in that, Each road vector includes multiple road interval vectors, and the construction module is further configured to: Establish the reverse adjacency relationship of the road section vector on the road vector with reverse adjacency relationship.

9. An electronic device, characterized in that, It includes a memory and a processor, and when the processor executes the computer management program stored in the memory, it realizes the steps of the road adjacency relationship construction method described in any one of claims 1-6.

10. A computer-readable storage medium, characterized in that, A computer management program is stored thereon, and when the computer management program is executed by a processor, it realizes the steps of the road adjacency relationship construction method described in any one of claims 1-6.

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